We implement a reliable robot control system for performing maintenance/repairing in nuclear power plant. Systems entered in extreme environments should have high reliability, since their failures cause much longer maintenance time. Our system is designed to have a threelevel hierarchical structure – slave/master/supervisory controllers – by considering the degree of radiation hazard. The slave...

switching supervisory is the most important section of a feedback control process inmimo hybrid systems. by choosing a non-compatible controller, system may go tounstable mode or high overshoot response. in this paper, a new method of switchingfor selecting mbc controllers is discussed. results of the simulation show the mimo(2-in 2-out) linear hybrid system can be switched stable and low overs...

In this paper, we present two different methods for the synthesis of a simplified controller using Petri Nets. The supervisory control theory presented by Ramadge and Wonham is adapted to Petri nets modeling. Uncontrollable transitions in discrete event systems are the cause of forbidden states in supervisory control. This paper concerns the problem of forbidden states in safe Petri Net. We pre...

We present an algorithm for synthesising a controller (supervisor) for a discrete event system (DES) based on the property-directed reachability (PDR) model checking algorithm. The discrete event systems framework is useful in both software, automation and manufacturing, as problems from those domains can be modelled as discrete supervisory control problems. As a formal framework, DES is also s...

The problem of adaptive disturbance attenuation is addressed in this paper using a switching control approach. A finite family of stabilizing controllers is pre-designed, with the assumption that, for any possible operating condition, at least one controller is able to achieve a prescribed level of attenuation. Then, at each time instant, a supervisory unit selects the controller associated wit...

In this paper, a supervisory controller is proposed to manage the power flow in a hybrid AC/DC micro-grid for both grid-connected and disconnected modes. When the hybrid AC/DC micro-grid is connected to the utility grid, power surplus or shortage leads to power trade between the micro-grid and the utility grid. In the grid-disconnected mode, the renewable power sources (wind and solar generatio...

The application of a self-organizing fuzzy proportional–integral–derivative (SOF-PID) controller to a multiple-input–multiple-output (MIMO) nonlinear revolute-joint robot arm is studied in this paper. The SOF controller is a learning supervisory controller, making small changes to the values of the PID gains while the system is in operation. In effect, the SOF controller replaces an experienced...

Manufacturing control modules, which are bascd on hierarchical control theory, decompose commands from a supervisory controller into elementary tasks to be performed by subordinate systems. The ability to simultaneously manage coordinated and independent functions of subordinates, while also processing new commands from the supervisory controller, i s beneficial in advanced implementations of t...

The problem of attenuating unknown and possibly time-varying disturbances acting on a linear timeinvariant dynamical system is addressed by means of an adaptive switching control approach. Given a family of pre-designed stabilizing controllers, a supervisory unit infers in real-time the potential behavior of each candidate controller and selects the one providing the best potential performance....

We consider a class of supervisory control problems that require infinite state supervisors and introduce Petri nets with inhibitor arcs (PN's) to model the supervisors. We compare this PN-based approach to supervisory control to automata-based approaches. The primary advantage of a PN-based supervisory controller is that a PN-based controller provides a finite representation of an infinite sta...